摘要
讨论了自由漂浮双臂空间机器人系统关节轨迹跟踪的控制问题。由于载体位置与姿态均不受控制,空间机器人系统控制方程失去了关于惯性参数的线性关系,给控制系统设计带来极大的困难。借助于增广变量法――即恰当地扩展系统的控制输入与输出,成功地克服了上述难点。以此为基础,针对机械臂惯性参数不确定与末端抓手持有载荷参数未知的情况下,设计了自由漂浮双臂空间机器人系统关节轨迹跟踪的自适应鲁棒性联合控制方案。系统数值仿真,证实了上述控制方案的有效性。
The control problem for free-floating space robot system with dual-arms to track the desired trajectory in joint space was discussed. Because the base of space robot system is not controlled and it is free-floating, the dynamic equation of system no longer cannot be linearly parameterized. It results the control of space robot system becomes very difficult. Based on the augmentation approach, the inputs and outputs of system were expanded properly and then the difficulties proposed above were overcome. With uncertain parameters of the manipulators and unknown parameters of the payloads, the adaptive robust control scheme for space robot system with dual-arms to track the desired trajectory in joint space was developed. A planar space robot system with dual-arms was simulated to verify the proposed control scheme.
出处
《系统仿真学报》
CAS
CSCD
北大核心
2009年第3期625-628,633,共5页
Journal of System Simulation
基金
国家自然科学基金(10372022
10672040)
福建省自然科学基金(E0410008)
关键词
自由漂浮双臂空间机器人
增广变量法
关节轨迹
自适应鲁棒性联合控制
free-floating space robot system with dual-arms
augmentation approach
trajectory in joint space
adaptive robust control
